creation

lcd_i2c.ino

+//YWROBOT
+//Compatible with the Arduino IDE 1.0
+//Library version:1.1
+#include <ros.h>
+#include <Wire.h> 
+#include <LiquidCrystal_I2C.h>
+#include <std_msgs/UInt32.h>
+
+LiquidCrystal_I2C lcd(0x27,16,2);  // set the LCD address to 0x27 for a 16 chars and 2 line display
+ros::NodeHandle nh;
+
+
+void scoreCb( const std_msgs::UInt32& score){
+  lcd.setCursor(13,1);
+  uint32_t hundreds = (score.data%1000 - score.data%100)/100;
+  uint32_t units = score.data%10;
+  uint32_t tens = (score.data%1000 - hundreds*100 - units)/10;
+  lcd.print(hundreds);
+  lcd.print(tens);
+  lcd.print(units);
+}
+
+ros::Subscriber<std_msgs::UInt32> score_sub("score", &scoreCb);
+
+
+void setup()
+{
+  
+  lcd.init();                      // initialize the lcd 
+  lcd.init();
+  // Print a message to the LCD.
+  lcd.backlight();
+  lcd.setCursor(7,1);
+    lcd.print("Score:");
+  lcd.setCursor(0,0);
+    lcd.print("X");
+      lcd.setCursor(6,0);
+    lcd.print("Y");
+      lcd.setCursor(12,0);
+    lcd.print("T");
+      lcd.setCursor(0,1);
+    lcd.print("T");
+ 
+      nh.initNode();
+      nh.subscribe(score_sub);
+
+}
+
+
+void loop()
+{
+  nh.spinOnce();
+  delay(10);
+}